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Hyundai CAN-FD: move HDA2 flag to common Hyundai safety #1638

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merged 2 commits into from
Sep 11, 2023
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Hyundai CAN-FD: move HDA2 flag to common Hyundai safety #1638

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336d98c
Hyundai CAN-FD: move HDA2 flag to common Hyundai safety
sunnyhaibin Sep 5, 2023
b35803e
Merge remote-tracking branch 'commaai/panda/master' into hkg-canfd-hd…
sunnyhaibin Sep 8, 2023
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3 changes: 0 additions & 3 deletions board/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -120,10 +120,8 @@ addr_checks hyundai_canfd_rx_checks = {hyundai_canfd_addr_checks, HYUNDAI_CANFD_
uint16_t hyundai_canfd_crc_lut[256];


const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
bool hyundai_canfd_hda2 = false;
bool hyundai_canfd_alt_buttons = false;
bool hyundai_canfd_hda2_alt_steering = false;

Expand Down Expand Up @@ -359,7 +357,6 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
hyundai_common_init(param);

gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);

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3 changes: 3 additions & 0 deletions board/safety/safety_hyundai_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ const int HYUNDAI_PARAM_EV_GAS = 1;
const int HYUNDAI_PARAM_HYBRID_GAS = 2;
const int HYUNDAI_PARAM_LONGITUDINAL = 4;
const int HYUNDAI_PARAM_CAMERA_SCC = 8;
const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags

const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms
Expand All @@ -22,13 +23,15 @@ bool hyundai_ev_gas_signal = false;
bool hyundai_hybrid_gas_signal = false;
bool hyundai_longitudinal = false;
bool hyundai_camera_scc = false;
bool hyundai_canfd_hda2 = false;
bool hyundai_alt_limits = false;
uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button

void hyundai_common_init(uint16_t param) {
hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
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@sunnyhaibin can we just use one flag that describes if it's HDA2 or not? Has HDA2 ever existed on a purely CAN car?

hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);

hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
Expand Down